{"title":"Linear Stability of Reversing a Car-trailer Combination","authors":"Levente Mihályi, D. Takács","doi":"10.3311/ppme.18971","DOIUrl":null,"url":null,"abstract":"In this paper, we investigate the reverse motion of a car-trailer combination. The single track model of the vehicle is used with quasi-static tire model to design a simple linear feedback controller that can achieve stable reversing motion along a straight path. The linear stability of the closed-loop system is analyzed by constructing stability charts in the plane of the control gains. The effect of the reversing speed of the vehicle on the stability is also shown. In order to validate the theoretical results, laboratory experiments are carried out using a small-scale vehicle and a conveyor belt.","PeriodicalId":43630,"journal":{"name":"PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING","volume":"50 1","pages":""},"PeriodicalIF":1.3000,"publicationDate":"2023-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3311/ppme.18971","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, we investigate the reverse motion of a car-trailer combination. The single track model of the vehicle is used with quasi-static tire model to design a simple linear feedback controller that can achieve stable reversing motion along a straight path. The linear stability of the closed-loop system is analyzed by constructing stability charts in the plane of the control gains. The effect of the reversing speed of the vehicle on the stability is also shown. In order to validate the theoretical results, laboratory experiments are carried out using a small-scale vehicle and a conveyor belt.
期刊介绍：
Periodica Polytechnica is a publisher of the Budapest University of Technology and Economics. It publishes seven international journals (Architecture, Chemical Engineering, Civil Engineering, Electrical Engineering, Mechanical Engineering, Social and Management Sciences, Transportation Engineering). The journals have free electronic versions.
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